[go: up one dir, main page]

EP1415771A3 - Robot comprising a changeable section with memory for stocking section inherent parameters - Google Patents

Robot comprising a changeable section with memory for stocking section inherent parameters Download PDF

Info

Publication number
EP1415771A3
EP1415771A3 EP03256834A EP03256834A EP1415771A3 EP 1415771 A3 EP1415771 A3 EP 1415771A3 EP 03256834 A EP03256834 A EP 03256834A EP 03256834 A EP03256834 A EP 03256834A EP 1415771 A3 EP1415771 A3 EP 1415771A3
Authority
EP
European Patent Office
Prior art keywords
robot
section
mechanical unit
changed
mechanism section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03256834A
Other languages
German (de)
French (fr)
Other versions
EP1415771A2 (en
EP1415771B1 (en
Inventor
Tetsuaki Kato
Yukinobu Room 6-205 Tsuchida
Makoto FANUC Dai3virakaramatsu Someya
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP1415771A2 publication Critical patent/EP1415771A2/en
Publication of EP1415771A3 publication Critical patent/EP1415771A3/en
Application granted granted Critical
Publication of EP1415771B1 publication Critical patent/EP1415771B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33105—Identification of type of connected module, motor, panel
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33123—Identify kind of transducer, encoder used
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40304—Modular structure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

A robot system capable of performing automatic updating of data inherent to a robot mechanism section (1) or a mechanical unit thereof when changing the robot mechanism section (1) or the mechanical unit. After changing the robot mechanism section (1) or the mechanical unit, data of identifiers are read by a robot control section (20) from nonvolatile memories (13,14) associated with encoders in the robot mechanism section (1) or the mechanical unit automatically upon turning-on of a power supply on or a manual operation. If it is determined that a kind of the robot is changed, the data indicating the kind of robot is rewritten in the robot control section. If it is required to change an algorithm for forward/inverse transformation for calculation of a robot locus, the algorithm is changed. If a kind of the robot is not changed, it is determined whether individuality of the whole robot mechanism section (1) or the mechanical unit is changed or not. If there is a change in the individuality, the data inherent to the individuality is read from the nonvolatile memories (13,14) to update the corresponding data in the robot control section (20).
EP03256834.7A 2002-10-30 2003-10-29 Robot comprising a changeable section with memory for stocking section inherent parameters Expired - Lifetime EP1415771B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002315971A JP3910134B2 (en) 2002-10-30 2002-10-30 Robot equipment
JP2002315971 2002-10-30

Publications (3)

Publication Number Publication Date
EP1415771A2 EP1415771A2 (en) 2004-05-06
EP1415771A3 true EP1415771A3 (en) 2007-12-19
EP1415771B1 EP1415771B1 (en) 2017-11-22

Family

ID=32089530

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03256834.7A Expired - Lifetime EP1415771B1 (en) 2002-10-30 2003-10-29 Robot comprising a changeable section with memory for stocking section inherent parameters

Country Status (3)

Country Link
US (1) US7103448B2 (en)
EP (1) EP1415771B1 (en)
JP (1) JP3910134B2 (en)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112005001152T5 (en) * 2004-05-20 2007-06-28 Abb Research Ltd. Method and system for retrieving and displaying technical data for an industrial facility
DE102005035420B4 (en) * 2005-07-28 2007-05-03 Siemens Ag Modular device for loading substrates
FR2931092B1 (en) * 2008-05-19 2010-09-10 Commissariat Energie Atomique MANIPULATOR ARM HAVING REMOVABLE END INCORPORATING MOTORS
JP5304585B2 (en) * 2009-10-14 2013-10-02 トヨタ自動車株式会社 Transfer support apparatus and control method thereof
DE102010031251A1 (en) 2010-07-12 2012-01-12 Kuka Roboter Gmbh Robot arm, industrial robot and method for creating a mathematical robot model
CN103240747B (en) * 2013-04-18 2016-07-06 塔米智能科技（北京）有限公司 A kind of intelligence solves magic square robot and employs the human-computer interaction system of this robot
JP5684945B1 (en) 2013-12-11 2015-03-18 株式会社小松製作所 Work machine, management system, and management method of work machine electronic device
JP6623522B2 (en) * 2015-01-26 2019-12-25 セイコーエプソン株式会社 Robots, robot systems and servers
US9751211B1 (en) * 2015-10-08 2017-09-05 Google Inc. Smart robot part
US10759281B2 (en) * 2016-01-19 2020-09-01 Ford Global Technologies, Llc Controlling operation of electrified vehicle travelling on inductive roadway to influence electrical grid
JP6309990B2 (en) * 2016-03-24 2018-04-11 ファナック株式会社 Robot system for controlling a robot composed of a plurality of mechanism units, the mechanism unit, and a robot control apparatus
JP6571616B2 (en) 2016-09-05 2019-09-04 ファナック株式会社 Robot simulation device
JP2018062028A (en) 2016-10-12 2018-04-19 ファナック株式会社 Robot system for tracking information on module and maintenance method
CN106335052B (en) * 2016-11-08 2018-06-12 天津职业技术师范大学 A kind of hydraulic pressure climbing level robot
JP7007839B2 (en) * 2017-08-31 2022-01-25 川崎重工業株式会社 Articulated robot
JP2019042856A (en) * 2017-08-31 2019-03-22 川崎重工業株式会社 Robot and method for confirming assemblability of robot
JP7130369B2 (en) 2017-12-18 2022-09-05 日本電産サンキョー株式会社 robot system
JP7083245B2 (en) * 2017-12-18 2022-06-10 日本電産サンキョー株式会社 Robot system
CN108356806B (en) * 2017-12-19 2020-12-18 北京可以科技有限公司 Modular robot control method and system
WO2019200547A1 (en) 2018-04-17 2019-10-24 Abb Schweiz Ag Method and apparatus for robot control
WO2020163657A1 (en) * 2019-02-08 2020-08-13 Yaskawa America, Inc. Through-beam auto teaching
WO2020170432A1 (en) * 2019-02-22 2020-08-27 株式会社Ｆｕｊｉ Device for setting work system
JP7290986B2 (en) * 2019-04-26 2023-06-14 ニデックインスツルメンツ株式会社 robot system
JP7186349B2 (en) * 2019-06-27 2022-12-09 パナソニックＩｐマネジメント株式会社 END EFFECTOR CONTROL SYSTEM AND END EFFECTOR CONTROL METHOD
DE112021001866T5 (en) 2020-06-16 2023-01-12 Fanuc Corporation Control device with tool setting management function, control system and tool
JP2023004194A (en) * 2021-06-25 2023-01-17 日本電産サンキョー株式会社 Robot system and erroneous wiring detection method thereof
DE102022108243A1 (en) * 2022-04-06 2023-10-12 Kuka Deutschland Gmbh Robot attachment and control device and robot, and associated method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0929671A (en) * 1995-07-20 1997-02-04 Nec Corp Robot articulation
EP0818283A1 (en) * 1996-07-08 1998-01-14 Sony Corporation Robot apparatus

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5602967A (en) * 1981-05-11 1997-02-11 Sensor Adaptive Machines, Inc. Vision target based assembly
US6317953B1 (en) * 1981-05-11 2001-11-20 Lmi-Diffracto Vision target based assembly
CA1209678A (en) * 1982-03-08 1986-08-12 Zymark Corporation Robot system with interchangeable hands
JPS6012714A (en) * 1983-07-04 1985-01-23 Yaskawa Electric Mfg Co Ltd Manufacture of electrically insulated coil
JPS60209814A (en) * 1984-04-02 1985-10-22 Mitsubishi Electric Corp Industrial robot
JPS61278908A (en) * 1985-06-03 1986-12-09 Mitsubishi Electric Corp Industrial robot
JPH04365574A (en) 1991-06-14 1992-12-17 Tokyo Electric Power Co Inc:The Manipulator
JPH054181A (en) 1991-06-24 1993-01-14 Toshiba Corp Robot control device
US5509191A (en) * 1994-01-26 1996-04-23 Best; Norman D. Apparatus for assembling and processing small parts using a robot
US5640100A (en) * 1994-10-22 1997-06-17 Tokyo Electron Limited Probe apparatus having probe card exchanging mechanism
US6322418B1 (en) * 2000-02-03 2001-11-27 Mattel, Inc. Toy airship alternately configurable as a hydrofoil craft

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0929671A (en) * 1995-07-20 1997-02-04 Nec Corp Robot articulation
EP0818283A1 (en) * 1996-07-08 1998-01-14 Sony Corporation Robot apparatus

Also Published As

Publication number Publication date
EP1415771A2 (en) 2004-05-06
US20040128029A1 (en) 2004-07-01
US7103448B2 (en) 2006-09-05
EP1415771B1 (en) 2017-11-22
JP2004148433A (en) 2004-05-27
JP3910134B2 (en) 2007-04-25

Similar Documents

Publication Publication Date Title
EP1415771A3 (en) Robot comprising a changeable section with memory for stocking section inherent parameters
JP5629092B2 (en) Lamp control circuit and method for driving lamp
EP1372068A3 (en) System, method and program for rewriting a flash memory
EP1814000A3 (en) Controller for electric motor
AU4757200A (en) Method for nonvolatile storage of at least one operating data value of an electrical motor and electrical motor for said method
US6951402B1 (en) Refrigeration appliance interior lighting system
WO2008117520A1 (en) Memory controller, nonvolatile memory system and host device
EP1577725A3 (en) Numerical controller
DE60108676D1 (en) Memory rewriting system for vehicle control unit
CA2068705A1 (en) Program patching of a rom
KR101199665B1 (en) The Learning Type Control Method for Air Conditioner of Vehicle
EP1447728A3 (en) Position control device
HK1068971A1 (en) Mapping data masks in hardware by controller programming
EP0973170A3 (en) Apparatus and method for controlling electric power supply in nonvolatile memory rewriting operation
JPH09509459A (en) Configuration of control means in rock drill
WO2006075297A8 (en) Remote-controlled lighting system for spaces
DE50304412D1 (en) Interface device for a household appliance and household appliance
EP1043826A3 (en) Emergency lighting unit and remote handset
US10727782B2 (en) Schedule-based sun tracker for increasing directness of sun exposure upon a solar panel to improve energy production
KR970062570A (en) Control method of sleeping operation of air conditioner
TW200636470A (en) Memory apparatus and controller
EP1662476A3 (en) Video device capable of downloading data and method of controlling the same
WO2005102009A3 (en) Metering system having a portable controller
KR20060129587A (en) Humidity and temperature sensing device for plant cultivation
JP4261320B2 (en) Servo control system

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

RIC1 Information provided on ipc code assigned before grant

Ipc: B25J 9/16 20060101ALI20071107BHEP

Ipc: G05B 19/414 20060101ALI20071107BHEP

Ipc: B25J 9/08 20060101AFI20040301BHEP

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

17P Request for examination filed

Effective date: 20080616

17Q First examination report despatched

Effective date: 20080721

AKX Designation fees paid

Designated state(s): DE

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: FANUC CORPORATION

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20170607

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 60350782

Country of ref document: DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 60350782

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20180823

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20191015

Year of fee payment: 17

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 60350782

Country of ref document: DE

Representative=s name: HL KEMPNER PATENTANWALT, RECHTSANWALT, SOLICIT, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 60350782

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210501